2 ******************************************************************************
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3 **
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\83\8b\96¼ : balancer.h
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5 **
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6 **
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7 **
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8 **
\97\9a\97ð : y_yama - Tue Sep 25 11:37:09 2007
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9 ** takashic - Sun Sep 28 17:50:53 2008
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11 ** Copyright (c) 2008 CYBERNET SYSTEMS CO.,LTD.
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12 ** All rights reserved.
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13 ******************************************************************************
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16 #ifndef RTW_HEADER_balancer_h_
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17 #define RTW_HEADER_balancer_h_
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18 #ifndef balancer_COMMON_INCLUDES_
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19 # define balancer_COMMON_INCLUDES_
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20 #include "rtwtypes.h"
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21 #include "rt_SATURATE.h"
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22 #endif /* balancer_COMMON_INCLUDES_ */
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24 #include "balancer_types.h"
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26 /* Macros for accessing real-time model data structure */
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27 #ifndef rtmGetErrorStatus
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28 # define rtmGetErrorStatus(rtm) ((void*) 0)
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31 #ifndef rtmSetErrorStatus
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32 # define rtmSetErrorStatus(rtm, val) ((void) 0)
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35 #ifndef rtmGetStopRequested
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36 # define rtmGetStopRequested(rtm) ((void*) 0)
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39 #define CMD_MAX 100.0F /*
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\90i/
\90ù
\89ñ
\96½
\97ß
\90â
\91Î
\8dÅ
\91å
\92l */
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40 #define DEG2RAD 0.01745329238F /*
\8ap
\93x
\92P
\88Ê
\95Ï
\8a·
\8cW
\90\94(=pi/180) */
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41 #define EXEC_PERIOD 0.00400000019F /*
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\83\89\83\93\83X
\90§
\8cä
\8eÀ
\8ds
\8eü
\8aú(
\95b) */
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43 /* Model entry point functions */
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44 extern void balance_init(void);
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46 /* Customized model step function */
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47 extern void balance_control(F32 args_cmd_forward, F32 args_cmd_turn,
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48 F32 args_gyro, F32 args_gyro_offset, F32 args_theta_m_l,
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49 F32 args_theta_m_r, F32 args_battery, S8 *ret_pwm_l, S8
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53 * The generated code includes comments that allow you to trace directly
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54 * back to the appropriate location in the model. The basic format
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55 * is <system>/block_name, where system is the system number (uniquely
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56 * assigned by Simulink) and block_name is the name of the block.
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58 * Use the MATLAB hilite_system command to trace the generated code back
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59 * to the model. For example,
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61 * hilite_system('<S3>') - opens system 3
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62 * hilite_system('<S3>/Kp') - opens and selects block Kp which resides in S3
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64 * Here is the system hierarchy for this model
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66 * '<Root>' : balancer
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67 * '<S1>' : balancer/Control
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68 * '<S2>' : balancer/Control/Cal_PWM
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69 * '<S3>' : balancer/Control/Cal_Reference
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70 * '<S4>' : balancer/Control/Cal_x1
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71 * '<S5>' : balancer/Control/DiscreteIntegrator
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72 * '<S6>' : balancer/Control/Cal_PWM/Cal_vol_max
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73 * '<S7>' : balancer/Control/Cal_Reference/DiscreteIntegrator
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74 * '<S8>' : balancer/Control/Cal_Reference/LowPathFilter
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75 * '<S9>' : balancer/Control/Cal_x1/DiscreteDerivative
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76 * '<S10>' : balancer/Control/Cal_x1/DiscreteIntegrator
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77 * '<S11>' : balancer/Control/Cal_x1/LowPathFilter
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79 #endif /* RTW_HEADER_balancer_h_ */
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81 /*======================== TOOL VERSION INFORMATION ==========================*
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82 * MATLAB 7.7 (R2008b)30-Jun-2008 *
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83 * Simulink 7.2 (R2008b)30-Jun-2008 *
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84 * Real-Time Workshop 7.2 (R2008b)30-Jun-2008 *
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85 * Real-Time Workshop Embedded Coder 5.2 (R2008b)30-Jun-2008 *
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86 * Stateflow 7.2 (R2008b)30-Jun-2008 *
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87 * Stateflow Coder 7.2 (R2008b)30-Jun-2008 *
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88 * Simulink Fixed Point 6.0 (R2008b)30-Jun-2008 *
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89 *============================================================================*/
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91 /*======================= LICENSE IN USE INFORMATION =========================*
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93 * real-time_workshop *
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94 * rtw_embedded_coder *
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96 *============================================================================*/
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97 /******************************** END OF FILE ********************************/
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